By Topic

Modular design and motion control of reconfigurable robotic fish

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
5 Author(s)

This paper presents a module-based approach to the design of robotic fish. A remotely-controlled, free-swimming robotic fish is constructed with a head module, a pair of pectoral fin modules and two tail modules. Propulsion and maneuvering of the robotic fish can be achieved either by explicit joint angle control of the tail modules or with combined pitching and heaving motion of the pectoral fins. A unified equation that governs the motion of the robotic fish is derived, based on which several typical swimming behaviors are designed. Experiments are conducted to evaluate the swimming performance of the robotic fish.

Published in:

Decision and Control, 2007 46th IEEE Conference on

Date of Conference:

12-14 Dec. 2007